Decoupling Control for Triaxial 6 Degree-of-Freedom Electro-hydraulic Shaking Table
Shen Gang1, Zhu Zhencai1, Li Xiang1, Tang Yu1, Yang Yinwei1 ,Cong Dacheng2
1. School of Mechanical and Electrical Engineering, China University of Mining and Technology, Xuzhou 221116
2. School of Mechanical and Electrical Engineering, Harbin Institute of Technology, Harbin 150080
Abstract：To solve the coupling problem between freedom of Triaxial 6 Degree-of-Freedom Electro-hydraulic Shaking Table(EHST), this paper proposes a feedforward compensation decoupling strategy based on inverse model. Firstly, for multi-axis electro-hydraulic shaking table,typing system transfer function into matrix and ansysing to deduce decoupling strategy based on inverse model based on system inverse model.Then, the system inverse model and corresponding decoupling controller are obtained by employing the Recursive Extended Least Square algorithm (RELS) and Zero Phase Error Tracking Technology (ZPET).Finaly, experiments conducted on a six degree-of-freedom electro-hydraulic shaking table to verify the validity of the proposed algorithm. The results demonstrate that the proposed decoupling strategy can greatly improve system performance,.Coupled signal is reduced to some extent.
